cmake_minimum_required(VERSION 3.8)
project(radiation_source_state_machine)

if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
  add_compile_options(-Wall -Wextra -Wpedantic)
endif()

# find dependencies
find_package(ament_cmake REQUIRED)
find_package(rclcpp REQUIRED)
find_package(rclcpp_lifecycle REQUIRED)
find_package(lifecycle_msgs REQUIRED)
find_package(std_msgs REQUIRED)
find_package(geometry_msgs REQUIRED)
find_package(sensor_msgs REQUIRED)
find_package(visualization_msgs REQUIRED)

# include directories
include_directories(
  include
)

# state machine node library
add_library(state_machine_node SHARED
  src/state_machine_node.cpp
  src/lifecycle_node_client.cpp
)

target_include_directories(state_machine_node PUBLIC
  $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
  $<INSTALL_INTERFACE:include>
)

ament_target_dependencies(state_machine_node
  rclcpp
  rclcpp_lifecycle
  lifecycle_msgs
  std_msgs
  geometry_msgs
  sensor_msgs
  visualization_msgs
)

add_executable(state_machine_main src/main.cpp)

target_link_libraries(state_machine_main state_machine_node)

ament_target_dependencies(state_machine_main
  rclcpp
  rclcpp_lifecycle
  lifecycle_msgs
)

# install targets
install(TARGETS
  state_machine_node
  state_machine_main
  ARCHIVE DESTINATION lib
  LIBRARY DESTINATION lib
  RUNTIME DESTINATION lib/${PROJECT_NAME}
)

install(DIRECTORY
  include/
  DESTINATION include
)

install(DIRECTORY
  launch/
  DESTINATION share/${PROJECT_NAME}/launch
)

ament_export_include_directories(include)
ament_export_libraries(state_machine_node)
ament_export_dependencies(
  rclcpp
  rclcpp_lifecycle
  lifecycle_msgs
  std_msgs
  geometry_msgs
)


if(BUILD_TESTING)
  find_package(ament_lint_auto REQUIRED)
  # the following line skips the linter which checks for copyrights
  # comment the line when a copyright and license is added to all source files
  set(ament_cmake_copyright_FOUND TRUE)
  # the following line skips cpplint (only works in a git repo)
  # comment the line when this package is in a git repo and when
  # a copyright and license is added to all source files
  set(ament_cmake_cpplint_FOUND TRUE)
  ament_lint_auto_find_test_dependencies()
endif()

ament_package()
